Added test cases for steering corrections.

pendulum-project · Sep 19, 2024 · b01cdfa · b01cdfa
1 parent beadfb4
commit b01cdfa
Showing 1 changed file with 91 additions and 0 deletions.
diff --git a/ntp-proto/src/algorithm/kalman/mod.rs b/ntp-proto/src/algorithm/kalman/mod.rs
@@ -413,6 +413,8 @@ impl<C: NtpClock, SourceId: Hash + Eq + Copy + Debug + Send + 'static> TimeSyncC
 mod tests {
     use std::cell::RefCell;
 
+    use matrix::{Matrix, Vector};
+
     use crate::algorithm::SourceController;
     use crate::config::StepThreshold;
     use crate::source::Measurement;
@@ -588,6 +590,95 @@ mod tests {
         algo.steer_offset(-1000.0, 0.0);
     }
 
+    #[test]
+    fn test_jumps_update_state() {
+        let synchronization_config = SynchronizationConfig::default();
+        let algo_config = AlgorithmConfig::default();
+        let source_defaults_config = SourceDefaultsConfig::default();
+        let mut algo = KalmanClockController::<_, u32>::new(
+            TestClock {
+                has_steered: RefCell::new(false),
+                current_time: NtpTimestamp::from_fixed_int(0),
+            },
+            synchronization_config,
+            source_defaults_config,
+            algo_config,
+        )
+        .unwrap();
+
+        algo.sources.insert(
+            0,
+            (
+                Some(SourceSnapshot {
+                    index: 0,
+                    state: KalmanState {
+                        state: Vector::new_vector([0.0, 0.0]),
+                        uncertainty: Matrix::new([[1e-18, 0.0], [0.0, 1e-18]]),
+                        time: NtpTimestamp::from_fixed_int(0),
+                    },
+                    wander: 0.0,
+                    delay: 0.0,
+                    source_uncertainty: NtpDuration::ZERO,
+                    source_delay: NtpDuration::ZERO,
+                    leap_indicator: NtpLeapIndicator::NoWarning,
+                    last_update: NtpTimestamp::from_fixed_int(0),
+                }),
+                true,
+            ),
+        );
+
+        algo.steer_offset(100.0, 0.0);
+        assert_eq!(
+            algo.sources.get(&0).unwrap().0.unwrap().state.offset(),
+            -100.0
+        );
+        assert_eq!(
+            algo.sources.get(&0).unwrap().0.unwrap().state.time,
+            NtpTimestamp::from_seconds_nanos_since_ntp_era(100, 0)
+        );
+    }
+
+    #[test]
+    fn test_freqsteer_update_state() {
+        let synchronization_config = SynchronizationConfig::default();
+        let algo_config = AlgorithmConfig::default();
+        let source_defaults_config = SourceDefaultsConfig::default();
+        let mut algo = KalmanClockController::<_, u32>::new(
+            TestClock {
+                has_steered: RefCell::new(false),
+                current_time: NtpTimestamp::from_fixed_int(0),
+            },
+            synchronization_config,
+            source_defaults_config,
+            algo_config,
+        )
+        .unwrap();
+
+        algo.sources.insert(
+            0,
+            (
+                Some(SourceSnapshot {
+                    index: 0,
+                    state: KalmanState {
+                        state: Vector::new_vector([0.0, 0.0]),
+                        uncertainty: Matrix::new([[1e-18, 0.0], [0.0, 1e-18]]),
+                        time: NtpTimestamp::from_fixed_int(0),
+                    },
+                    wander: 0.0,
+                    delay: 0.0,
+                    source_uncertainty: NtpDuration::ZERO,
+                    source_delay: NtpDuration::ZERO,
+                    leap_indicator: NtpLeapIndicator::NoWarning,
+                    last_update: NtpTimestamp::from_fixed_int(0),
+                }),
+                true,
+            ),
+        );
+
+        algo.steer_frequency(1e-6);
+        assert!(algo.sources.get(&0).unwrap().0.unwrap().state.frequency() - -1e-6 < 1e-12);
+    }
+
     #[test]
     #[should_panic]
     fn test_large_offset_eventually_panics() {